version: 66.07.10.p01
glider: 574
mission: 4
dive: 137
start: 10 24 112 0 4 13
data:
$ID,574
$MISSION,4
$DIVE,137
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$T_BOOST_BLACKOUT,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,450
$T_MISSION,520
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5849.5884
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,92
$PITCH_MAX,3858
$C_PITCH,3013
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1913
$C_ROLL_CLIMB,1651
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,396
$VBD_MAX,3960
$C_VBD,2827
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.017719
$PRESSURE_SLOPE,0.00011710486
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.812
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043508084
$SEABIRD_T_H,0.00062732975
$SEABIRD_T_I,2.3669163e-05
$SEABIRD_T_J,2.5502761e-06
$SEABIRD_C_G,-9.9075203
$SEABIRD_C_H,1.1452845
$SEABIRD_C_I,-0.00093430834
$SEABIRD_C_J,0.0001541152
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,116
$GPS1,231012,235528,-4227.076,-754.253,37,1.1,43,-21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-73.6
$GPS2,241012,000319,-4227.079,-754.358,15,1.2,17,-21.7
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.231,-0.043
$KALMAN_X,-225995.9,210.0,27.3,300684.7,-7076.7
$KALMAN_Y,131657.0,27.9,804.9,-87061.3,253.7
$MHEAD_RNG_PITCHd_Wd,122.3,68929,-13.9,-7.407
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,82,0.00,0.00,-55.05,0.000,2,0.000,0.000,67,1934,2396,0,0,0,0,0,0
$GC,84,-0.52,-145.9,3.0,-0.9,9,146,12.30,2.22,-39.58,0.000,4,0.264,0.065,2826,3296,3423,0,0,0,0,0,0
$GC,247,-0.52,-145.9,14.0,-9.0,36,255,0.03,2.20,0.00,0.000,6,0.162,0.046,2836,1922,3423,0,0,0,0,0,0
$GC,328,-0.52,-145.9,21.2,-9.1,49,335,0.00,1.15,0.00,0.000,4,0.000,0.057,2836,1204,3423,0,0,0,0,0,0
$GC,413,-0.52,-145.9,29.4,-9.6,63,420,0.00,1.08,0.00,0.000,6,0.000,0.041,2833,1888,3424,0,0,0,0,0,0
$GC,489,-0.52,-145.9,36.7,-9.3,76,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1888,3424,0,0,0,0,0,0
$GC,727,-0.52,-145.9,58.8,-9.4,117,732,0.00,1.90,0.00,0.000,4,0.000,0.061,2833,719,3424,0,0,0,0,0,0
$GC,819,-0.52,-145.9,68.1,-10.0,133,823,0.08,1.85,0.00,0.000,6,0.187,0.038,2843,1914,3424,0,0,0,0,0,0
$GC,1160,-0.52,-145.9,99.6,-9.4,194,1165,0.00,1.35,0.00,0.000,4,0.000,0.057,2843,1083,3424,0,0,0,0,0,0
$GC,1244,-0.52,-145.9,107.6,-9.5,200,1248,0.00,1.30,0.00,0.000,6,0.000,0.040,2838,1918,3424,0,0,0,0,0,0
$GC,1576,-0.52,-145.9,139.3,-9.7,221,1579,0.00,1.12,0.00,0.000,4,0.000,0.058,2838,1218,3424,0,0,0,0,0,0
$GC,1661,-0.52,-145.9,147.8,-10.1,226,1665,0.00,1.08,0.00,0.000,6,0.000,0.041,2836,1910,3424,0,0,0,0,0,0
$GC,1993,-0.52,-145.9,180.2,-9.5,247,1996,0.00,0.88,0.00,0.000,4,0.000,0.057,2836,1361,3424,0,0,0,0,0,0
$GC,2070,-0.52,-145.9,188.1,-9.4,251,2076,0.00,0.88,0.00,0.000,6,0.000,0.041,2834,1921,3424,0,0,0,0,0,0
$GC,2390,-0.52,-145.9,216.8,-8.6,272,2394,0.00,1.50,0.00,0.000,4,0.000,0.058,2834,997,3424,0,0,0,0,0,0
$GC,2479,-0.52,-145.9,225.2,-9.0,277,2483,0.00,1.40,0.00,0.000,6,0.000,0.037,2829,1902,3424,0,0,0,0,0,0
$GC,2814,-0.52,-145.9,254.8,-8.8,298,2818,0.05,0.57,0.00,0.000,4,0.232,0.057,2839,1538,3424,0,0,0,0,0,0
$GC,2904,-0.52,-145.9,261.9,-7.4,302,2907,0.00,0.57,0.00,0.000,6,0.000,0.043,2838,1927,3424,0,0,0,0,0,0
$GC,3236,-0.52,-145.9,286.9,-7.4,318,3239,0.00,1.88,0.00,0.000,4,0.000,0.058,2837,756,3425,0,0,0,0,0,0
$GC,3308,-0.52,-145.9,292.5,-7.2,321,3313,0.00,1.77,0.00,0.000,6,0.000,0.036,2831,1904,3424,0,0,0,0,0,0
$GC,3637,-0.52,-145.9,317.5,-8.1,337,3641,0.00,0.30,0.00,0.000,4,0.000,0.054,2829,2141,3425,0,0,0,0,0,0
$GC,3684,-0.52,-145.9,321.3,-8.1,339,3688,0.00,0.35,0.00,0.000,6,0.000,0.057,2829,1899,3424,0,0,0,0,0,0
$GC,4018,-0.52,-145.9,349.8,-8.7,355,4022,0.00,1.75,0.00,0.000,4,0.000,0.059,2830,805,3424,0,0,0,0,0,0
$GC,4100,-0.52,-145.9,357.8,-9.1,358,4110,0.05,1.73,0.00,0.000,6,0.151,0.035,2841,1922,3424,0,0,0,0,0,0
$GC,4417,-0.55,-145.9,382.0,-7.6,374,4421,0.00,1.05,0.00,0.000,4,0.000,0.054,2841,1261,3424,0,0,0,0,0,0
$GC,4489,-0.57,-145.9,388.0,-7.7,377,4494,0.00,1.02,0.00,0.000,6,0.000,0.037,2838,1924,3424,0,0,0,0,0,0
$GC,4805,-0.60,-145.9,413.7,-8.5,390,4809,0.05,0.30,0.00,0.000,4,0.172,0.063,2812,1722,3424,0,0,0,0,0,0
$GC,4906,-0.56,-145.9,423.8,-10.4,393,4910,0.05,0.25,0.00,0.000,6,0.151,0.052,2828,1917,3425,0,0,0,0,0,0
$GC,5245,-0.56,-145.9,455.3,-9.3,404,5249,0.00,0.82,0.00,0.000,4,0.000,0.052,2828,1391,3424,0,0,0,0,0,0
$GC,5333,-0.56,-145.9,464.2,-10.3,406,5338,0.00,0.80,0.00,0.000,6,0.000,0.036,2825,1917,3424,0,0,0,0,0,0
$GC,5651,-0.56,-145.9,496.9,-10.4,417,5655,0.00,1.33,0.00,0.000,4,0.000,0.053,2825,1086,3424,0,0,0,0,0,0
$GC,5745,-0.56,-145.9,506.7,-10.4,419,5751,0.00,1.27,0.00,0.000,6,0.000,0.034,2821,1908,3423,0,0,0,0,0,0
$GC,6058,-0.56,-145.9,538.0,-10.2,430,6062,0.00,0.28,0.00,0.000,4,0.000,0.059,2822,1714,3423,0,0,0,0,0,0
$GC,6140,-0.56,-145.9,546.6,-10.8,432,6145,0.00,0.30,0.00,0.000,6,0.000,0.049,2820,1930,3423,0,0,0,0,0,0
$GC,6464,-0.56,-145.9,579.2,-9.8,443,6467,0.00,1.62,0.00,0.000,4,0.000,0.054,2820,919,3423,0,0,0,0,0,0
$GC,6552,-0.56,-145.9,588.4,-9.7,445,6558,0.08,1.52,0.00,0.000,6,0.187,0.034,2831,1897,3423,0,0,0,0,0,0
$GC,6871,-0.56,-145.9,616.8,-8.9,456,6874,0.00,0.32,0.00,0.000,4,0.000,0.056,2831,1666,3422,0,0,0,0,0,0
$GC,6930,-0.56,-145.9,622.5,-9.6,457,6936,0.00,0.38,0.00,0.000,6,0.000,0.046,2831,1927,3422,0,0,0,0,0,0
$GC,7243,-0.56,-145.9,651.0,-9.3,468,7247,0.00,0.75,0.00,0.000,4,0.000,0.052,2831,1448,3421,0,0,0,0,0,0
$GC,7325,-0.56,-145.9,659.0,-9.2,470,7329,0.00,0.70,0.00,0.000,6,0.000,0.039,2828,1905,3421,0,0,0,0,0,0
$GC,7649,-0.56,-145.9,688.6,-9.1,481,7653,0.00,1.25,0.00,0.000,4,0.000,0.054,2828,1125,3421,0,0,0,0,0,0
$GC,7742,-0.56,-145.9,697.1,-8.7,483,7749,0.00,1.23,0.00,0.000,6,0.000,0.037,2824,1910,3420,0,0,0,0,0,0
$GC,8055,-0.56,-145.9,723.5,-8.6,494,8059,0.00,1.12,0.00,0.000,4,0.000,0.054,2824,1203,3420,0,0,0,0,0,0
$GC,8143,-0.56,-145.9,731.4,-9.1,496,8148,0.00,1.12,0.00,0.000,6,0.000,0.037,2821,1924,3420,0,0,0,0,0,0
$GC,8462,-0.56,-145.9,760.4,-9.2,507,8466,0.00,0.82,0.00,0.000,4,0.000,0.053,2821,1399,3420,0,0,0,0,0,0
$GC,8538,-0.56,-145.9,767.3,-8.9,509,8543,0.00,0.80,0.00,0.000,6,0.000,0.039,2818,1918,3419,0,0,0,0,0,0
$GC,8868,-0.56,-145.9,797.2,-9.3,520,8871,0.00,0.50,0.00,0.000,4,0.000,0.055,2818,1585,3419,0,0,0,0,0,0
$GC,8961,-0.56,-145.9,806.2,-8.8,522,8967,0.00,0.50,0.00,0.000,6,0.000,0.044,2816,1920,3418,0,0,0,0,0,0
$GC,9274,-0.56,-145.9,834.8,-9.2,533,9277,0.00,0.75,0.00,0.000,4,0.000,0.052,2816,1441,3418,0,0,0,0,0,0
$GC,9356,-0.56,-145.9,842.6,-9.4,535,9361,0.08,0.73,0.00,0.000,6,0.189,0.042,2830,1913,3418,0,0,0,0,0,0
$GC,9680,-0.59,-145.9,869.1,-8.1,546,9683,0.00,0.93,0.00,0.000,4,0.000,0.054,2830,1327,3417,0,0,0,0,0,0
$GC,9768,-0.62,-145.9,876.1,-7.6,548,9773,0.00,0.93,0.00,0.000,6,0.000,0.040,2828,1919,3417,0,0,0,0,0,0
$GC,10087,-0.64,-145.9,901.5,-8.6,559,10091,0.08,1.02,0.00,0.000,4,0.136,0.054,2800,1288,3417,0,0,0,0,0,0
$GC,10188,-0.61,-145.9,911.4,-9.3,562,10192,0.05,0.95,0.00,0.000,6,0.157,0.040,2813,1911,3417,0,0,0,0,0,0
$GC,10527,-0.61,-145.9,941.7,-8.4,573,10531,0.00,0.52,0.00,0.000,4,0.000,0.053,2813,1563,3417,0,0,0,0,0,0
$GC,10598,-0.61,-145.9,947.7,-7.9,575,10602,0.00,0.55,0.00,0.000,6,0.000,0.042,2812,1930,3416,0,0,0,0,0,0
$GC,10933,-0.61,-145.9,975.5,-8.7,586,10937,0.00,1.55,0.00,0.000,4,0.000,0.056,2812,971,3416,0,0,0,0,0,0
$GC,11038,-0.61,-145.9,984.9,-7.5,589,11043,0.00,1.48,0.00,0.000,6,0.000,0.037,2808,1910,3416,0,0,0,0,0,0
$STATE,11220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11220,begin apogee
$GC,11224,-0.19,0.0,1000.8,8.8,595,11351,0.47,0.00,123.38,1.528,6,0.140,0.000,2950,1652,2827,0,0,0,0,0,0
$STATE,11352,end apogee,CONTROL_FINISHED_OK
$STATE,11352,begin climb
$GC,11353,0.52,145.9,1005.5,0.0,599,11492,0.70,2.53,129.80,1.496,4,0.077,0.067,3182,292,2231,0,0,0,0,0,0
$GC,11621,0.33,145.9,996.1,9.2,607,11627,0.20,2.25,0.00,0.000,6,0.175,0.037,3129,1650,2227,0,0,0,0,0,0
$GC,11934,0.27,169.5,975.3,6.6,618,11960,0.10,1.10,21.15,1.407,4,0.198,0.040,3105,2369,2135,0,0,0,0,0,0
$GC,12036,0.27,217.8,968.8,5.8,620,12084,0.00,1.17,43.35,1.462,6,0.000,0.050,3108,1660,1939,0,0,0,0,0,0
$GC,12390,0.31,242.9,945.7,6.5,631,12417,0.00,0.62,22.85,1.411,4,0.000,0.043,3108,2044,1836,0,0,0,0,0,0
$GC,12472,0.35,261.4,940.3,6.8,632,12494,0.00,0.65,17.75,1.387,6,0.000,0.054,3110,1644,1761,0,0,0,0,0,0
$GC,12818,0.41,299.7,918.2,6.1,644,12858,0.10,0.60,35.03,1.433,4,0.109,0.038,3150,2026,1605,0,0,0,0,0,0
$GC,12919,0.41,301.0,910.4,7.4,647,12923,0.00,0.62,0.00,0.000,6,0.000,0.055,3152,1651,1601,0,0,0,0,0,0
$GC,13254,0.41,308.0,885.4,7.2,658,13264,0.00,0.00,7.78,1.179,6,0.000,0.000,3152,1651,1571,0,0,0,0,0,0
$GC,13560,0.41,348.9,865.5,6.0,668,13601,0.00,0.00,38.60,1.413,6,0.000,0.000,3152,1651,1404,0,0,0,0,0,0
$GC,13897,0.45,401.5,847.1,5.6,679,13948,0.00,0.00,48.70,1.444,6,0.000,0.000,3152,1651,1189,0,0,0,0,0,0
$GC,14233,0.53,440.7,827.1,6.1,690,14273,0.10,0.68,35.88,1.420,4,0.109,0.059,3193,1233,1030,0,0,0,0,0,0
$GC,14318,0.56,440.7,820.2,7.6,692,14322,0.00,0.70,0.00,0.000,6,0.000,0.040,3193,1668,1026,0,0,0,0,0,0
$GC,14636,0.58,440.7,792.7,8.9,703,14640,0.00,0.77,0.00,0.000,4,0.000,0.063,3194,1196,1023,0,0,0,0,0,0
$GC,14685,0.60,440.7,788.0,9.4,704,14689,0.00,0.73,0.00,0.000,6,0.000,0.041,3194,1656,1022,0,0,0,0,0,0
$GC,15009,0.62,440.7,754.7,10.8,715,15014,0.05,0.35,0.00,0.000,4,0.169,0.067,3218,1435,1021,0,0,0,0,0,0
$GC,15087,0.60,440.7,744.8,12.6,717,15091,0.00,0.32,0.00,0.000,6,0.000,0.051,3218,1652,1021,0,0,0,0,0,0
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$STATE,22268,end climb,SURFACE_DEPTH_REACHED
$STATE,22268,begin surface coast
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$STATE,22299,end surface coast,CONTROL_FINISHED_OK
$STATE,22299,begin surface
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$10V_AH,10.2,27.203
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$FG_AHR_10Vo,0.000
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$MEM,354248
$DATA_FILE_SIZE,70204,1160
$CAP_FILE_SIZE,198860,0
$CFSIZE,2097086464,2074738688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
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